Support capsule geometry in robot links#1735
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Related with #1734 |
Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
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I included same changes to be able to use a capsule instead of a cylinder. @mzl2233 do you mind to take a look ? |
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This adds handling for URDF capsule geometry in the robot model link renderer so capsule visuals and collision geometry no longer fall through to the unsupported geometry path. The implementation follows the existing cylinder handling and sizes the rendered primitive using the capsule radius plus its cylindrical length.